Fruit and vegetable harvesting device

Abstract

Provided is a fruit and vegetable harvesting device (10) for harvesting a fruit or vegetable (1) connected to a branch (3) via a pedicel (2). The fruit and vegetable harvesting device (10) includes: a harvesting hand (11) including a holding unit (12) having a suction pad (15) for holding the fruit or vegetable (1) and a finger unit (21) that can abut on the pedicel (2); and a robot arm (31) that turns the harvesting hand (11) to cause the finger unit (21) abutting on the pedicel (2) to press the pedicel (2).

Description

TECHNICAL FIELD[0001]The present invention relates to a fruit and vegetable harvesting device for harvesting fruits or vegetables connected to branches via pedicels.BACKGROUND ART[0002]Manually harvesting fruits and vegetables, such as apples and tomatoes, takes considerable effort in separating them from branches. For reducing such a burden, fruit and vegetable harvesting devices which hold and harvest fruits and vegetables have been known (see Patent Literature 1, for example).CITATION LISTPatent Literature[0003]Patent Literature 1: Japanese Patent Laid-Open No. 63-137614SUMMARY OF INVENTIONTechnical Problem[0004]The fruit and vegetable harvesting device disclosed in Patent Literature 1 includes an arm, a suction tube turnably provided to the arm, and a sucking pad provided at the distal end of the suction tube. In harvesting a fruit or vegetable, the suction tube turns while the fruit or vegetable to be harvested is sucked and held by the sucking pad, so that the fruit or vegetab...

AI Technical Summary

Benefits of technology

The present invention provides a device for harvesting fruits and vegetables that can easily remove them from branches without damaging them. The device has a harvesting hand with a finger unit that presses onto the pedicel, allowing the fruit or vegetable to be easily removed. The device also recognizes the position of the fruit or vegetable with a recognition device and moves the harvesting hand towards it, reducing the burden on the operator. Additionally, the device can recognize the bending direction of the pedicel and make it easy to break it for separating the vegetable from the branch.

Problems solved by technology

Manually harvesting fruits and vegetables, such as apples and tomatoes, takes considerable effort in separating them from branches.

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